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[wpimath] Replace UKF implementation with square root form (#4168)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Connor Worley
2022-06-08 22:19:01 -07:00
committed by GitHub
parent 45b7fc445b
commit a99c11c14c
22 changed files with 494 additions and 297 deletions
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wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
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@@ -93,6 +93,6 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
}
EXPECT_NEAR(0.0, errorSum / (trajectory.TotalTime().value() / dt.value()),
0.2);
EXPECT_NEAR(0.0, maxError, 0.4);
0.05);
EXPECT_NEAR(0.0, maxError, 0.1);
}